Simple inverse kinematics test

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Hello, I am working with kdl using inverse kinematics. I successfully imported the urdf file, generated using xacro and I now am trying to make some calculations. It is only a 2 axis arm, of height of respectfully 0.2 and 0.1 as you can see in the urdf first axe is linked to the ground and other one is free. I should be able to access the point (0,0,0.3) if the axes are both straight and (0,pi/4,0.2) if the second one is perpendicular to the first one.

Here I found a sort of example of inverse kinematics, but I don't really understand 2 things:

1 - How do I fix the positions to be found by the solver

2 - How do I get this data at the end ? It should give me a rotation

Also, I wanted to check orientations of my segments directly but I didn't find a way. I'd be happy to have hints.

Thanks